US20160200218A1 - Method and device for operating a motor vehicle, and a motor vehicle - Google Patents

Method and device for operating a motor vehicle, and a motor vehicle Download PDF

Info

Publication number
US20160200218A1
US20160200218A1 US14/978,133 US201514978133A US2016200218A1 US 20160200218 A1 US20160200218 A1 US 20160200218A1 US 201514978133 A US201514978133 A US 201514978133A US 2016200218 A1 US2016200218 A1 US 2016200218A1
Authority
US
United States
Prior art keywords
electric machine
torque
driven wheel
motor vehicle
inverter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
US14/978,133
Other versions
US10988031B2 (en
Inventor
Henrik Tornow
Marcel Maur
Thomas Kopp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Assigned to ROBERT BOSCH GMBH reassignment ROBERT BOSCH GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Tornow, Henrik, KOPP, THOMAS, MAUR, MARCEL
Publication of US20160200218A1 publication Critical patent/US20160200218A1/en
Application granted granted Critical
Publication of US10988031B2 publication Critical patent/US10988031B2/en
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to a method for operating a motor vehicle which has at least one electric machine which can be/is operatively connected to at least one driven wheel of the motor vehicle, and a safety device which is assigned to a driven wheel, is independent of the electric machine and can be actuated, wherein the safety device when necessary applies a positive or negative torque to the driven wheel, and wherein the electric machine is operated by an inverter.
  • the invention relates to a device for operating such a motor vehicle and to a corresponding motor vehicle.
  • Contemporary motor vehicles frequently have, as a single or additional drive machine, an electric machine which is or can be operatively connected directly or via a transmission to at least one driven wheel, in particular to a drive axle for a motor vehicle. If a fault occurs in the electric drive train, this frequently brings about a changed torque of the electric machine, which torque has an effect on the drive torque of the driven wheel. This undesired positive or negative torque can produce a wheel slip at the driven wheels, which wheel slip can have a negative effect on the controllability of the motor vehicle. If the motor vehicle also has a safety braking system, in particular an ESP (electronic stability program) system, said system detects a slip of the wheels and when possible reduces the wheel slip again by means of a braking intervention.
  • ESP electronic stability program
  • the method according to the invention has the advantage that an undesired torque of the electric machine is already reduced early, in particular before said torque can at all bring about a wheel slip at the driven wheel.
  • the inverter of the electric machine is monitored for incorrectly set torques of the electric machine, and that the safety device is actuated as a function of an incorrect torque.
  • the inverter which is usually actuated by means of pulse-width modulation, can easily be monitored for the occurrence of incorrect torques in that, for example, the control times of the switching elements of the inverter are monitored and compared with setpoint control times.
  • the cause of an incorrect torque is already detected.
  • said device can react or be actuated very much earlier than previously, in order to compensate for the undesired torque at the driven wheel.
  • the safety device is actuated to compensate for the incorrect torque. If it is determined during the monitoring of the inverter that an undesired positive drive torque is produced, the safety device is actuated to produce a correspondingly negative torque and to apply said torque to the driven wheel, in order to compensate for the positive torque coming from the electric machine. Correspondingly, if it is detected during the monitoring of the inverter that an undesirably low torque of the electric machine is set, said torque is then compensated for by the actuation of the safety device in such a way that said safety device applies a positive torque to the driven wheel.
  • a brake device which is assigned to the driven wheel is activated as a safety device.
  • a safety braking system of the motor vehicle in particular an ESP system, is used as the safety device.
  • the brake device is actuated with a delay with respect to the detection of an incorrect torque.
  • a delay with respect to the detection of an incorrect torque.
  • the delay is determined as a function of inertia of the electric drive train of the electric machine up to the driven wheel.
  • inertias and elasticities of the mechanical drive train as well as the reaction time which passes between the actuation by the inverter and the drive torque which actually takes place is taken into account.
  • a drive machine which can be operated independently of the electric machine is actuated as a safety device, in order to generate a positive torque.
  • An incorrectly set negative torque can be counteracted or compensated by this positive torque.
  • An internal combustion engine and/or a further electric machine of the motor vehicle are/is preferably actuated as a further drive machine.
  • a torque of an internal combustion engine is increased in a short time by means of adjustment of the ignition angle.
  • the device according to the invention is defined by a control device which carries out the method according to the invention in the case of correct usage.
  • the motor vehicle according to the invention is defined by the device according to the invention.
  • the advantages which have already been mentioned are obtained here for the motor vehicle. In particular, it is ensured that an undesired wheel slip at a driven wheel is reliably avoided by means of torque compensation of an incorrect or undesired torque. Further advantages and features are apparent from what has been described above as well as from the claims.
  • FIG. 1 shows a motor vehicle in simplified plan view
  • FIG. 2 shows a method for operating the motor vehicle on the basis of a torque/time diagram.
  • FIG. 1 shows a simplified plan view of a motor vehicle 1 which has a drive device 2 .
  • the drive device 2 has an internal combustion engine 3 which can be operatively connected to a transmission 5 by means of an actuable clutch 4 , wherein the transmission 5 is connected on the output side to driven wheel 6 of the motor vehicle.
  • an electric machine 7 is provided as a further drive machine between the clutch 4 and the transmission 5 , the rotor of which electric machine 7 is connected in a rotationally fixed fashion to the transmission input shaft of the transmission 5 .
  • An inverter 8 which actuates phases of the electric machine 7 , in particular in a pulse-width-modulator fashion, is assigned to the electric machine 7 .
  • switching elements, in particular semiconductor switches, of the inverter 8 are actuated by means of a control device 9 of the motor vehicle 1 .
  • the energy which is necessary to operate the electric machine 7 is extracted here from an electrical accumulator 10 , which is embodied, in particular, as a rechargeable battery.
  • the electrical accumulator 10 is charged and it is discharged in the motor mode.
  • the control device 9 which is integrated into the inverter 8 , can be embodied separately therefrom or can be formed together with it by means of a plurality of control devices and operates the inverter 8 in order to set a desired torque of the electric machine 7 , and monitors the inverter 8 to determine whether it sets the desired setpoint torque. For this purpose, in particular the switched states of the switching elements and/or the currently present electric currents in the phases of the electric machine 7 are monitored. If the switched states or the currents deviate from the setpoint state, incorrect actuation is detected. In this context, it is determined as a function of the type of incorrect actuation whether the electric machine 7 sets an undesired positive or negative torque or an undesired increased or reduced torque of the electric machine 7 .
  • the control device 9 is also connected to a brake device 11 which has in each case a wheel brake device 12 assigned to each of the driven wheels 6 .
  • the control unit 9 actuates the brake device 11 in such a way that an incorrect increased torque of the electric machine 7 is compensated for by the braking intervention of the brake device 11 and a wheel slip at the driven wheels 6 is reliably prevented.
  • the brake device therefore constitutes a safety device 13 .
  • FIG. 2 shows in this respect, plotted against the time t in an exemplary embodiment, a first line M 7 which shows the torque profile at the output shaft or rotor shaft of the electric machine 7 in the case of a fault.
  • a time t 1 the case of fault occurs in the inverter 8 and brings about an increase in torque up to a maximum torque M max .
  • the actuation of the inverter reacts in order to eliminate the fault by setting a reduced torque up to a time t 3 .
  • a second line M 6 shows the torque profile of the driven wheels 6 .
  • the profile corresponds to the torque profile of the electric machine 7 , but has a time delay with respect to the latter, the reason for which delay is the inertia of the drive train of the drive device 2 , in particular of the electric machine 7 up to the driven wheels 6 .
  • the torque profiles are smoothed, as is shown by a line M 9 .
  • the control device 9 takes into account the inertia of the drive train and calculates the time at which the incorrect or undesired torque which is produced by the electric machine 7 at the driven wheels 6 comes into effect. At this time, the control device 9 actuates the brake device 11 in order to bring about the already mentioned braking torque, that is to say negative torque, at the driven wheels 6 , which negative torque counteracts the increased drive torque of the electric machine 7 , with the result that said drive torque is compensated for or a wheel slip at the driven wheels 6 is avoided.
  • the control device 9 is also connected to the internal combustion engine 3 in order also to actuate it in the case of a fault, with the result that the internal combustion engine 3 makes available an increased drive torque by means of which the negative torque of the electric machine 7 can be correspondingly compensated for.
  • the negative torque which is provided by means of the brake device 11
  • the positive torque which is provided by the internal combustion engine 3
  • the incorrect actuation of the electric machine 7 is completely eliminated or compensated for. This ensures particularly safe and jolt-free operation of the motor vehicle 1 .
  • control unit 9 The communication between the control unit 9 , inverter 8 and/or internal combustion engine 3 or a control device which is assigned to the internal combustion engine 3 is carried out, for example, by means of a databus communication or a signal line between the brake device 11 and the inverter 8 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to a method for operating a motor vehicle (1) which has at least one electric machine (7) which can be/is operatively connected to at least one driven wheel (6) of the motor vehicle (1), and a safety device (13) which is assigned to a driven wheel (6), is independent of the electric machine (7) and when necessary applies a positive or negative torque to the driven wheel (6), wherein the electric machine (7) is operated by an inverter (8). There is provision that the inverter (8) is monitored for incorrectly set torques, and that the safety device (13) is actuated as a function of a detected incorrect torque.

Description

    BACKGROUND OF THE INVENTION
  • The invention relates to a method for operating a motor vehicle which has at least one electric machine which can be/is operatively connected to at least one driven wheel of the motor vehicle, and a safety device which is assigned to a driven wheel, is independent of the electric machine and can be actuated, wherein the safety device when necessary applies a positive or negative torque to the driven wheel, and wherein the electric machine is operated by an inverter.
  • In addition, the invention relates to a device for operating such a motor vehicle and to a corresponding motor vehicle.
  • Contemporary motor vehicles frequently have, as a single or additional drive machine, an electric machine which is or can be operatively connected directly or via a transmission to at least one driven wheel, in particular to a drive axle for a motor vehicle. If a fault occurs in the electric drive train, this frequently brings about a changed torque of the electric machine, which torque has an effect on the drive torque of the driven wheel. This undesired positive or negative torque can produce a wheel slip at the driven wheels, which wheel slip can have a negative effect on the controllability of the motor vehicle. If the motor vehicle also has a safety braking system, in particular an ESP (electronic stability program) system, said system detects a slip of the wheels and when possible reduces the wheel slip again by means of a braking intervention.
    • SUMMARY OF THE INVENTION
  • The method according to the invention has the advantage that an undesired torque of the electric machine is already reduced early, in particular before said torque can at all bring about a wheel slip at the driven wheel. For this purpose there is provision according to the invention that the inverter of the electric machine is monitored for incorrectly set torques of the electric machine, and that the safety device is actuated as a function of an incorrect torque. According to the invention, it is therefore not the wheel but instead the inverter of the electric drive train which is monitored for incorrect torques. The inverter, which is usually actuated by means of pulse-width modulation, can easily be monitored for the occurrence of incorrect torques in that, for example, the control times of the switching elements of the inverter are monitored and compared with setpoint control times. As a result, the cause of an incorrect torque is already detected. As a result of the fact that the safety device is actuated as a function of the detected cause, said device can react or be actuated very much earlier than previously, in order to compensate for the undesired torque at the driven wheel. In particular, as a result it is possible to prevent the occurrence of an undesired torque at the driven wheel from the start and as a result to ensure the driving stability of the motor vehicle to an optimum degree.
  • According to one advantageous development of the invention there is provision that the safety device is actuated to compensate for the incorrect torque. If it is determined during the monitoring of the inverter that an undesired positive drive torque is produced, the safety device is actuated to produce a correspondingly negative torque and to apply said torque to the driven wheel, in order to compensate for the positive torque coming from the electric machine. Correspondingly, if it is detected during the monitoring of the inverter that an undesirably low torque of the electric machine is set, said torque is then compensated for by the actuation of the safety device in such a way that said safety device applies a positive torque to the driven wheel.
  • According to one advantageous development of the invention there is provision that a brake device which is assigned to the driven wheel is activated as a safety device. In particular there is provision that a safety braking system of the motor vehicle, in particular an ESP system, is used as the safety device. As a result of the production of a braking torque at the driven wheel or wheels, a negative torque or braking torque is built up in a short time directly at the respective driven wheel and counteracts an undesirably high drive torque of the electric machine, with the result that, in particular, spinning of the driven wheel is reliably avoided.
  • Furthermore there is preferably provision that the brake device is actuated with a delay with respect to the detection of an incorrect torque. In this context, it is taken into account that if the fault was detected in the inverter, a certain amount of time passes before this fault has an effect on the torque which is actually output by the electric machine at the driven wheel. As a result of delayed actuation of the brake device it is ensured that a premature braking intervention does not take place.
  • In particular there is provision that the delay is determined as a function of inertia of the electric drive train of the electric machine up to the driven wheel. In this context, in particular inertias and elasticities of the mechanical drive train as well as the reaction time which passes between the actuation by the inverter and the drive torque which actually takes place is taken into account.
  • Furthermore there is preferably provision that additionally or alternatively a drive machine which can be operated independently of the electric machine is actuated as a safety device, in order to generate a positive torque. An incorrectly set negative torque can be counteracted or compensated by this positive torque. An internal combustion engine and/or a further electric machine of the motor vehicle are/is preferably actuated as a further drive machine. In particular there is provision that a torque of an internal combustion engine is increased in a short time by means of adjustment of the ignition angle. It is also conceivable to set the torque of the internal combustion engine by means of an increased air charge insofar as the air dynamics of the internal combustion engine are sufficiently fast, with the result that the internal combustion engine then makes available an increased torque if the undesired torque of the electric machine occurs at the driven wheels. Corresponding delay times are also expediently taken into account here, with the result that the compensating torque is then applied to the driven wheel or wheels even if the incorrect torque reaches the driven wheel or wheels.
  • The device according to the invention is defined by a control device which carries out the method according to the invention in the case of correct usage. As a result, the advantages already mentioned are obtained. Further features and advantages are apparent from what has been described above as well as from the claims.
  • The motor vehicle according to the invention is defined by the device according to the invention. The advantages which have already been mentioned are obtained here for the motor vehicle. In particular, it is ensured that an undesired wheel slip at a driven wheel is reliably avoided by means of torque compensation of an incorrect or undesired torque. Further advantages and features are apparent from what has been described above as well as from the claims.
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • The invention will be explained in more detail below with reference to the drawing, in which:
  • FIG. 1 shows a motor vehicle in simplified plan view, and
  • FIG. 2 shows a method for operating the motor vehicle on the basis of a torque/time diagram.
    •  DETAILED DESCRIPTION
  • FIG. 1 shows a simplified plan view of a motor vehicle 1 which has a drive device 2. The drive device 2 has an internal combustion engine 3 which can be operatively connected to a transmission 5 by means of an actuable clutch 4, wherein the transmission 5 is connected on the output side to driven wheel 6 of the motor vehicle. In the present exemplary embodiment, in addition to the internal combustion engine 3 an electric machine 7 is provided as a further drive machine between the clutch 4 and the transmission 5, the rotor of which electric machine 7 is connected in a rotationally fixed fashion to the transmission input shaft of the transmission 5. An inverter 8 which actuates phases of the electric machine 7, in particular in a pulse-width-modulator fashion, is assigned to the electric machine 7. For this purpose, switching elements, in particular semiconductor switches, of the inverter 8 are actuated by means of a control device 9 of the motor vehicle 1. The energy which is necessary to operate the electric machine 7 is extracted here from an electrical accumulator 10, which is embodied, in particular, as a rechargeable battery. In the generator mode of the electric machine 7, the electrical accumulator 10 is charged and it is discharged in the motor mode.
  • The control device 9, which is integrated into the inverter 8, can be embodied separately therefrom or can be formed together with it by means of a plurality of control devices and operates the inverter 8 in order to set a desired torque of the electric machine 7, and monitors the inverter 8 to determine whether it sets the desired setpoint torque. For this purpose, in particular the switched states of the switching elements and/or the currently present electric currents in the phases of the electric machine 7 are monitored. If the switched states or the currents deviate from the setpoint state, incorrect actuation is detected. In this context, it is determined as a function of the type of incorrect actuation whether the electric machine 7 sets an undesired positive or negative torque or an undesired increased or reduced torque of the electric machine 7.
  • The control device 9 is also connected to a brake device 11 which has in each case a wheel brake device 12 assigned to each of the driven wheels 6. As a function of the detected torque which has been set by the inverter 8, the control unit 9 actuates the brake device 11 in such a way that an incorrect increased torque of the electric machine 7 is compensated for by the braking intervention of the brake device 11 and a wheel slip at the driven wheels 6 is reliably prevented. In this case, the brake device therefore constitutes a safety device 13.
  • FIG. 2 shows in this respect, plotted against the time t in an exemplary embodiment, a first line M7 which shows the torque profile at the output shaft or rotor shaft of the electric machine 7 in the case of a fault. At a time t1, the case of fault occurs in the inverter 8 and brings about an increase in torque up to a maximum torque Mmax. At a time t2, the actuation of the inverter reacts in order to eliminate the fault by setting a reduced torque up to a time t3.
  • A second line M6 shows the torque profile of the driven wheels 6. The profile corresponds to the torque profile of the electric machine 7, but has a time delay with respect to the latter, the reason for which delay is the inertia of the drive train of the drive device 2, in particular of the electric machine 7 up to the driven wheels 6.
  • As a result of the advantageous method which is carried out by the control device 9 as previously described, the torque profiles are smoothed, as is shown by a line M9. The control device 9 takes into account the inertia of the drive train and calculates the time at which the incorrect or undesired torque which is produced by the electric machine 7 at the driven wheels 6 comes into effect. At this time, the control device 9 actuates the brake device 11 in order to bring about the already mentioned braking torque, that is to say negative torque, at the driven wheels 6, which negative torque counteracts the increased drive torque of the electric machine 7, with the result that said drive torque is compensated for or a wheel slip at the driven wheels 6 is avoided.
  • The control device 9 is also connected to the internal combustion engine 3 in order also to actuate it in the case of a fault, with the result that the internal combustion engine 3 makes available an increased drive torque by means of which the negative torque of the electric machine 7 can be correspondingly compensated for. As a result of the interaction of the negative torque, which is provided by means of the brake device 11, and the positive torque, which is provided by the internal combustion engine 3, the incorrect actuation of the electric machine 7 is completely eliminated or compensated for. This ensures particularly safe and jolt-free operation of the motor vehicle 1.
  • The communication between the control unit 9, inverter 8 and/or internal combustion engine 3 or a control device which is assigned to the internal combustion engine 3 is carried out, for example, by means of a databus communication or a signal line between the brake device 11 and the inverter 8.

Claims (9)

1. A method for operating a motor vehicle (1) which has at least one electric machine (7) which is configured to be operatively connected to at least one driven wheel (6) of the motor vehicle (1), and a safety device (13) which is assigned to a driven wheel (6), is independent of the electric machine (7) and when necessary applies a positive or negative torque to the driven wheel (6), the method comprising operating the electric machine (7) by an inverter (8), monitoring the inverter (8) for incorrectly set torques, and actuating the safety device (13) as a function of a detected incorrect torque.
2. The method according to claim 1, characterized in that the safety device (13) is actuated to compensate for the incorrect torque.
3. The method according to claim 1, characterized in that a brake device (11) which is assigned to the driven wheel (6) is activated as a safety device (13).
4. The method according to claim 3, characterized in that the brake device (11) is actuated with a delay with respect to the detection of the incorrect torque.
5. The method according to claim 4, characterized in that the delay is determined as a function of inertia of the drive train of the electric machine (7) up to the driven wheel (6).
6. The method according to claim 1, characterized in that a drive machine which can be operated independently of the electric machine (7) is actuated as a safety device (13) in order to generate a positive torque.
7. The method according to claim 1, characterized in that an internal combustion engine (3) or a further electric machine is actuated as a further drive machine.
8. A device for operating a motor vehicle (1) which has at least one electric machine (7) which is configured to be operatively connected to at least one driven wheel (6) of the motor vehicle (1) and is operated by an inverter (8), and a safety device (13) which is independent of the electric machine (7) and which when necessary applies a positive or negative torque to the driven wheel (6), also comprising a control device (9) configured to carry out the method according to claim 1.
9. A motor vehicle (1) having at least one electric machine (7) which is configured to be operatively connected to at least one driven wheel (6), a safety device (13) which is assigned to the driven wheel (6), can be operated independently of the electric machine (7) and when necessary applies a positive or negative torque to the driven wheel (6), an inverter (8) which is assigned to the electric machine (7), and a device according to claim 8.
US14/978,133 2015-01-08 2015-12-22 Method and device for adjusting a torque of a driven wheel of a motor vehicle Active 2036-11-25 US10988031B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015200122.9A DE102015200122B4 (en) 2015-01-08 2015-01-08 Method and device for operating a motor vehicle with a safety device for compensating erroneous torques
DE102015200122.9 2015-01-08

Publications (2)

Publication Number Publication Date
US20160200218A1 true US20160200218A1 (en) 2016-07-14
US10988031B2 US10988031B2 (en) 2021-04-27

Family

ID=56233825

Family Applications (1)

Application Number Title Priority Date Filing Date
US14/978,133 Active 2036-11-25 US10988031B2 (en) 2015-01-08 2015-12-22 Method and device for adjusting a torque of a driven wheel of a motor vehicle

Country Status (2)

Country Link
US (1) US10988031B2 (en)
DE (1) DE102015200122B4 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107264518A (en) * 2017-06-14 2017-10-20 北京新能源汽车股份有限公司 Safety monitoring method and device based on hybrid vehicle

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3753064A (en) * 1972-08-21 1973-08-14 Gen Motors Corp System for controlling the torque output of an induction motor
US5940286A (en) * 1994-05-13 1999-08-17 Abb Industry Oy Method for controlling the power to be transferred via a mains inverter
US20040038775A1 (en) * 2002-08-26 2004-02-26 Nissan Motor Co., Ltd. Vehicle driving force control apparatus
US20040040375A1 (en) * 2002-08-27 2004-03-04 Nissan Motor Co., Ltd. Vehicle driving force control apparatus
US7317978B2 (en) * 2003-09-05 2008-01-08 Nissan Motor Co., Ltd. Driving force control apparatus for vehicle
US20110266985A1 (en) * 2009-01-09 2011-11-03 Martin Eisenhardt Method and device for monitoring the startup of an electric drive
US20110307129A1 (en) * 2010-06-10 2011-12-15 Ford Global Technologies, Llc Vehicle steerability and stability control via independent wheel torque control
US8165743B2 (en) * 2007-01-31 2012-04-24 Hitachi, Ltd. Controller for inverter
US20130032523A1 (en) * 2007-08-22 2013-02-07 Hubert Patrovsky Rotary cartridge filter with attachments
US20130187453A1 (en) * 2011-11-22 2013-07-25 Quantum Fuel Systems Technologies Worldwide Inc. Fishtail Packaging and Cooling
US20130293163A1 (en) * 2011-11-22 2013-11-07 Quantum Fuel Systems Technologies Worldwide Inc. Combination Charger and Motive Power Device
US20140001987A1 (en) * 2011-03-18 2014-01-02 Koichi Okada Motor driving device
US8909406B2 (en) * 2011-02-25 2014-12-09 Ntn Corporation Electric automobile
US20160020719A1 (en) * 2014-07-16 2016-01-21 Atieva, Inc. Direct Torque Control Motor Controller with Transient Current Limiter

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1402321A (en) * 1972-07-26 1975-08-06 Kg Eng Lab Ltd Electric battery driven vehicle
US5289093A (en) * 1989-11-08 1994-02-22 Gec Alsthom Sa Antispin and antilock methods for an electric traction vehicle
DE19631384C1 (en) * 1996-08-02 1997-10-16 Clouth Gummiwerke Ag Electric machine with rotor in drive train e.g. of motor vehicle
US6278916B1 (en) * 2000-05-09 2001-08-21 Ford Global Technologies, Inc. Torque control strategy for management of creep and grade hold torque in a wheeled vehicle whose powertrain includes a rotary electric machine
US6525497B2 (en) * 2000-05-18 2003-02-25 Lg Electronics Inc. Phase distortion compensating apparatus and method for reducing torque ripple in 3-phase motor
US6831432B2 (en) * 2001-12-05 2004-12-14 Matsushita Electric Industrial Co., Ltd. Motor driving device and motor driving method
US20040182626A1 (en) * 2003-03-18 2004-09-23 Toyoda Koki Kabushiki Kaisha Power steering device and zero-point setting device for torque sensor in power steering device
US7778747B2 (en) * 2006-08-31 2010-08-17 National Railway Equipment Co. Adhesion control system for off-highway vehicle
GB2463130B (en) * 2009-07-29 2011-06-22 Protean Holdings Corp Torque control system
JP5520953B2 (en) * 2009-07-31 2014-06-11 本田技研工業株式会社 vehicle
GB2483524B (en) * 2011-01-27 2012-08-08 Protean Electric Ltd A switch arrangement
US8988016B2 (en) * 2011-10-03 2015-03-24 General Electric Company System and method for traction motor control
WO2013111327A1 (en) * 2012-01-27 2013-08-01 三菱電機株式会社 Motor control device and electric power steering device
US9260107B2 (en) * 2012-05-04 2016-02-16 Ford Global Technologies, Llc Methods and systems for operating a driveline disconnect clutch responsive to engine operating conditions
JP6223718B2 (en) * 2013-06-03 2017-11-01 Ntn株式会社 Electric vehicle slip control device
JP2014241690A (en) * 2013-06-12 2014-12-25 トヨタ自動車株式会社 vehicle
JP6182770B2 (en) * 2013-08-30 2017-08-23 日立オートモティブシステムズ株式会社 Electric vehicle control system
DE102013219748A1 (en) * 2013-09-30 2015-04-02 Siemens Aktiengesellschaft Electric drive system of an electrically driven vehicle and its testing
CN106105013B (en) * 2014-04-17 2018-10-02 爱信艾达株式会社 Rotary electric machine controller
EP3193443B1 (en) * 2014-09-09 2022-05-04 Mitsubishi Electric Corporation Inverter device for driving multi-phase ac motor
JP6350208B2 (en) * 2014-10-24 2018-07-04 トヨタ自動車株式会社 Automobile
US10286892B1 (en) * 2018-02-14 2019-05-14 Ford Global Technologies, Llc Autonomous motor control during loss of motor communications

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3753064A (en) * 1972-08-21 1973-08-14 Gen Motors Corp System for controlling the torque output of an induction motor
US5940286A (en) * 1994-05-13 1999-08-17 Abb Industry Oy Method for controlling the power to be transferred via a mains inverter
US20040038775A1 (en) * 2002-08-26 2004-02-26 Nissan Motor Co., Ltd. Vehicle driving force control apparatus
US20040040375A1 (en) * 2002-08-27 2004-03-04 Nissan Motor Co., Ltd. Vehicle driving force control apparatus
US7317978B2 (en) * 2003-09-05 2008-01-08 Nissan Motor Co., Ltd. Driving force control apparatus for vehicle
US8165743B2 (en) * 2007-01-31 2012-04-24 Hitachi, Ltd. Controller for inverter
US20130032523A1 (en) * 2007-08-22 2013-02-07 Hubert Patrovsky Rotary cartridge filter with attachments
US20110266985A1 (en) * 2009-01-09 2011-11-03 Martin Eisenhardt Method and device for monitoring the startup of an electric drive
US20110307129A1 (en) * 2010-06-10 2011-12-15 Ford Global Technologies, Llc Vehicle steerability and stability control via independent wheel torque control
US8909406B2 (en) * 2011-02-25 2014-12-09 Ntn Corporation Electric automobile
US20140001987A1 (en) * 2011-03-18 2014-01-02 Koichi Okada Motor driving device
US20130187453A1 (en) * 2011-11-22 2013-07-25 Quantum Fuel Systems Technologies Worldwide Inc. Fishtail Packaging and Cooling
US20130293163A1 (en) * 2011-11-22 2013-11-07 Quantum Fuel Systems Technologies Worldwide Inc. Combination Charger and Motive Power Device
US20160020719A1 (en) * 2014-07-16 2016-01-21 Atieva, Inc. Direct Torque Control Motor Controller with Transient Current Limiter

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107264518A (en) * 2017-06-14 2017-10-20 北京新能源汽车股份有限公司 Safety monitoring method and device based on hybrid vehicle

Also Published As

Publication number Publication date
US10988031B2 (en) 2021-04-27
DE102015200122A1 (en) 2016-07-14
DE102015200122B4 (en) 2016-11-03

Similar Documents

Publication Publication Date Title
US8738266B2 (en) Vehicle having at least two single-wheel drive units
KR101360060B1 (en) Method and system for controlling engine start when starter motor of hybrid electric vehicle is failure
KR101448755B1 (en) Method and system for controlling speed reduction while coasting of electric vehicle
US8631894B2 (en) Electric vehicle, and control apparatus and control method for electric vehicle
EP2444293B1 (en) Vehicle creep control device
US8818674B2 (en) Vehicle behavior controller
US9108622B2 (en) Drive control apparatus for vehicle and method of controlling drive apparatus for vehicle
US9827874B2 (en) Vehicle
JP2011036048A (en) Electric vehicle
US20150231972A1 (en) Control apparatus for vehicle
US9764720B2 (en) Method for operating an electric motor for braking a vehicle, and control device for an electric motor designed at least for braking a vehicle
KR20130002713A (en) Drive motor control method of vehicle
US20110053734A1 (en) Method for operating a drive train
KR20140079155A (en) Method and system for setting learn period of engine clutch of hybrid electric vehicle
KR20220115167A (en) Control system and method for switching to four-wheel drive of electric vehicle
JP6561642B2 (en) Hybrid vehicle control device
CN105015539B (en) Traction control for hybrid electric powertrain system
EP3351442B1 (en) Regenerative brake control device
US10988031B2 (en) Method and device for adjusting a torque of a driven wheel of a motor vehicle
KR20190073173A (en) Cruise control system and cruise control method for mild hybrid electric vehicle
CN104973048A (en) Clutch Calibration For A Hybrid Electric Powertrain
KR101510501B1 (en) Method and device for operating a vehicle having a hybrid drive
JP5434865B2 (en) Electric car
KR102250754B1 (en) Method for controlling smart cruise control of hybrid electric vehicle
US20220041164A1 (en) Vehicle control method and vehicle control device

Legal Events

Date Code Title Description
AS Assignment

Owner name: ROBERT BOSCH GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TORNOW, HENRIK;MAUR, MARCEL;KOPP, THOMAS;SIGNING DATES FROM 20160403 TO 20160423;REEL/FRAME:038645/0054

STPP Information on status: patent application and granting procedure in general

Free format text: FINAL REJECTION MAILED

STCV Information on status: appeal procedure

Free format text: NOTICE OF APPEAL FILED

STCV Information on status: appeal procedure

Free format text: APPEAL BRIEF (OR SUPPLEMENTAL BRIEF) ENTERED AND FORWARDED TO EXAMINER

STPP Information on status: patent application and granting procedure in general

Free format text: NOTICE OF ALLOWANCE MAILED -- APPLICATION RECEIVED IN OFFICE OF PUBLICATIONS

STPP Information on status: patent application and granting procedure in general

Free format text: PUBLICATIONS -- ISSUE FEE PAYMENT RECEIVED

STPP Information on status: patent application and granting procedure in general

Free format text: PUBLICATIONS -- ISSUE FEE PAYMENT VERIFIED

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 4